CN111674458A - Redundant mechanism steer-by-wire device and control method - Google Patents
Redundant mechanism steer-by-wire device and control method Download PDFInfo
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- CN111674458A CN111674458A CN202010531755.XA CN202010531755A CN111674458A CN 111674458 A CN111674458 A CN 111674458A CN 202010531755 A CN202010531755 A CN 202010531755A CN 111674458 A CN111674458 A CN 111674458A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0421—Electric motor acting on or near steering gear
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/046—Controlling the motor
- B62D5/0463—Controlling the motor calculating assisting torque from the motor based on driver input
Abstract
The invention relates to the technical field of automobiles, in particular to a redundant mechanism steer-by-wire device and a control method, wherein the redundant mechanism steer-by-wire device comprises a steering wheel; a road feel simulator, comprising: the first driving motor and the second driving motor which are redundant mutually are in transmission connection with the steering wheel; the system comprises a first controller and a second controller which are mutually redundant and are in communication connection with each other; a first sensor; a steering actuator comprising: a steering actuator connectable to a tire of an automobile; the two redundant third driving motors and the redundant fourth driving motors are in transmission connection with the steering executing part; the two controllers are mutually redundant and are in communication connection with each other; a second sensor; the first controller can be in communication with the third controller and the second controller can be in communication with the fourth controller. The invention can prevent the steering failure of the whole vehicle caused by the single-point failure of the electronic component and ensure the safe running of the vehicle.
Description
Technical Field
The invention relates to the technical field of automobiles, in particular to a redundant mechanism steer-by-wire device and a control method.
Background
In recent years, automobile intelligent control has become an industrial hotspot, and the requirement on chassis intelligence is higher and higher. The steer-by-wire technology and the automatic driving technology have the advantages of high integration degree, intensive structure design, good passive safety, variable steering angle transmission ratio and the like, and are concerned, and the technology becomes the trend of the steering technology.
However, in the prior art, some electronic components in the steer-by-wire system are not provided with redundancy, and when a vehicle is in a driving process, the steering failure of the whole vehicle is easily caused by the single-point failure of the electronic components which are not provided with redundancy, and even the safe driving of the vehicle is influenced.
Therefore, a redundant mechanism steer-by-wire apparatus and control method are needed to solve the above technical problems.
Disclosure of Invention
The invention aims to provide a redundant mechanism steer-by-wire device and a control method, which are used for carrying out full redundancy design on electronic components in a steer-by-wire system, thereby effectively preventing the steering failure of the whole vehicle caused by single-point failure of the electronic components and ensuring that the vehicle can safely run.
In order to achieve the purpose, the invention adopts the following technical scheme:
a redundant mechanism steer-by-wire apparatus comprising a steering wheel, further comprising:
a road feel simulator, comprising:
the first driving motor and the second driving motor which are redundant mutually are in transmission connection with the steering wheel;
the first controller is electrically connected with the first driving motor, the second controller is electrically connected with the second driving motor, the first controller can control the moment applied to the steering wheel by the first driving motor, and the second controller can control the moment applied to the steering wheel by the second driving motor;
the first sensor is in communication connection with the first controller and the second controller respectively, and can acquire torque and corner signals of automobile steering;
a steering actuator comprising:
a steering actuator connectable to a tire of an automobile;
the two redundant third driving motors and the redundant fourth driving motors are in transmission connection with the steering executing part;
the third controller is electrically connected with the third driving motor, the fourth controller is electrically connected with the fourth driving motor, the third controller can control the steering executive component to realize steering by controlling the third driving motor, and the fourth controller can control the steering executive component to realize steering by controlling the fourth driving motor;
the second sensor is in communication connection with the third controller and the fourth controller respectively, and can acquire a steering angle signal of an automobile;
the first controller can be in communication with the third controller and the second controller can be in communication with the fourth controller.
Optionally, the system further comprises a gateway, and the gateway is in communication connection with the first controller, the second controller, the third controller and the fourth controller respectively.
Optionally, the portable electronic device further comprises a first igniter and a second igniter which are redundant to each other, the first igniter is respectively connected with the first controller and the third controller, and the second igniter is respectively connected with the second controller and the fourth controller.
Optionally, the system further comprises a first power supply and a second power supply which are redundant to each other, the first power supply is electrically connected with the first controller and the third controller respectively, and the second power supply is electrically connected with the third controller and the fourth controller respectively.
Optionally, the first sensor is a torque angle sensor.
Optionally, the second sensor is a rotation angle sensor.
A control method of a redundant mechanism steer-by-wire device includes the following steps:
s1, the first controller receives torque and corner signals of the automobile steering collected by the first sensor, receives vehicle speed signals forwarded by the gateway, receives torque signals and corner signals output by a third driving motor and sent by a third controller, and the second controller receives torque and corner signals of the automobile steering collected by the first sensor; receiving a vehicle speed signal forwarded by the gateway, and receiving a torque signal and a corner signal which are sent by a fourth controller and output by a fourth driving motor;
s2, the third controller receives a steering angle signal of the automobile steering collected by the second sensor and receives a steering angle request signal sent by the first controller, and the fourth controller receives the steering angle signal of the automobile steering collected by the second sensor and receives a steering angle request signal sent by the second controller;
s3, the first controller calculates to obtain a steering reverse torque applied to a steering wheel according to the torque corner signal, the vehicle speed signal, the torque signal, the corner signal and the corner signal output by the third driving motor, and the second controller calculates to obtain the steering reverse torque applied to the steering wheel according to the torque corner signal, the vehicle speed signal, the torque signal, the corner signal and the corner signal output by the fourth driving motor;
s4, the first controller and the second controller are in mutual communication verification;
s5, the first controller controls the first driving motor according to the verification result, the second controller controls the second driving motor according to the verification result, and the synchronous output torque acts on the steering wheel;
s6, the third controller calculates a steering assistance torque applied to a steering execution part according to the steering angle signal and the torque steering angle signal and the steering angle request signal sent by the first controller, and the fourth controller calculates a steering assistance torque applied to the steering execution part according to the steering angle signal and the torque steering angle signal and the steering angle request signal sent by the second controller;
s7, the third controller and the fourth controller are in mutual communication verification;
and S8, controlling a third driving motor by the third controller according to the verification result, controlling a fourth driving motor by the fourth controller according to the verification result, and enabling the synchronous output torque to act on the steering executing piece.
Optionally, when the first controller or the second controller cannot receive the torque corner signal, the corner signal, and the corner signal, the first controller and the second controller verify through mutual communication that the first driving motor and the second driving motor work normally, and a synchronous output torque acts on the steering wheel.
Optionally, when the third controller or the fourth controller cannot receive the torque and rotation angle signals and the rotation angle request signal and rotation angle signals sent by the first controller, the third controller and the fourth controller achieve normal operation of the third driving motor and the fourth driving motor through mutual communication verification, and synchronous output torque acts on the steering executing element.
Optionally, when the first controller or the first driving motor fails to work, the second controller can control the second driving motor to work normally, and output torque acts on the steering wheel.
The invention has the beneficial effects that:
the invention provides a redundant mechanism steer-by-wire device, which is provided with a road sense simulator and a steering actuator, wherein the road sense simulator comprises a first driving motor and a second driving motor which are redundant with each other, a first controller and a second controller which are redundant with each other and can respectively control the first driving motor and the second driving motor, and a first sensor is respectively connected with the first controller and the second controller; the steering actuator comprises a third driving motor and a fourth driving motor which are redundant with each other, a third controller and a fourth controller which are redundant with each other and can respectively control the third driving motor and the fourth driving motor, and a second sensor is respectively connected with the third controller and the fourth controller.
The invention also provides a control method of the redundant mechanism steer-by-wire device, the first controller controls the first driving motor according to the check result, the second controller controls the second driving motor according to the check result, and the synchronous output torque acts on the steering wheel; the third controller controls the third driving motor according to the verification result, the fourth controller controls the fourth driving motor according to the verification result, the synchronous output torque acts on the steering actuating element, and full redundancy design is performed on the electronic components in the linear control steering system, so that the steering failure of the whole vehicle caused by single-point failure of the electronic components is effectively prevented, and the safe driving of the vehicle is ensured.
Drawings
FIG. 1 is a schematic diagram of a redundant mechanism steer-by-wire apparatus of the present invention;
fig. 2 is a schematic view of a redundant mechanism steer-by-wire apparatus of the present invention.
In the figure:
1-a steering wheel; 2-a road feel simulator; 21-a first controller; 22-a first drive motor; 23-a first sensor; 3-a steering actuator; 31-a third controller; 32-a third drive motor; 33-a second sensor; 4-a first igniter; 5-a gateway; 6-a first power supply; 7-second power supply.
Detailed Description
The technical scheme of the invention is further explained by combining the attached drawings and the embodiment. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some but not all of the elements associated with the present invention are shown in the drawings.
In the description of the present invention, it should be noted that unless otherwise explicitly stated or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection or a removable connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Example one
In order to effectively prevent the steering failure of the whole vehicle caused by the single-point failure of the electronic component and ensure that the vehicle can safely run, as shown in fig. 1-2, the invention provides a redundant mechanism steer-by-wire device, which comprises a steering wheel 1, a road feel simulator 2 and a steering actuator 3.
Wherein, the road sense simulator 2 includes: the two first driving motors 22 and the second driving motors which are redundant mutually are in transmission connection with the steering wheel 1; the two controllers are a first controller 21 and a second controller which are redundant and are in communication connection with each other, the first controller 21 is electrically connected with a first driving motor 22, the second controller is electrically connected with a second driving motor, the first controller 21 can control the moment applied to the steering wheel 1 by the first driving motor 22, and the second controller can control the moment applied to the steering wheel 1 by the second driving motor; the first sensor 23 is in communication connection with the first controller 21 and the second controller, and the first sensor 23 can acquire torque and rotation angle signals of automobile steering.
The steering actuator 3 includes: a steering actuator connectable to a tire of an automobile; the third driving motor 32 and the fourth driving motor which are redundant mutually are in transmission connection with the steering executing part; the three-dimensional steering control system comprises a third controller 31 and a fourth controller which are redundant and are in communication connection with each other, wherein the third controller 31 is electrically connected with a third driving motor 32, the fourth controller is electrically connected with a fourth driving motor, the third controller 31 can control a steering executing element to realize steering by controlling the third driving motor 32, and the fourth controller can control the steering executing element to realize steering by controlling the fourth driving motor; the second sensor 33, the second sensor 33 is respectively connected with the third controller 31 and the fourth controller in a communication way, and the second sensor 33 can acquire a steering angle signal of the automobile; the first controller 21 can be communicatively coupled to the third controller 31 and the second controller can be communicatively coupled to the fourth controller.
By arranging the road sensing simulator 2 and the steering actuator 3, wherein the road sensing simulator 2 comprises a first driving motor 22 and a second driving motor which are redundant with each other, and a first controller 21 and a second controller which are redundant with each other and can respectively control the first driving motor 22 and the second driving motor, and a first sensor 23 is respectively connected with the first controller 21 and the second controller; the steering actuator 3 comprises a third driving motor 32 and a fourth driving motor which are redundant with each other, a third controller 31 and a fourth controller which are redundant with each other and can respectively control the third driving motor 32 and the fourth driving motor, and a second sensor 33 is respectively connected with the third controller 31 and the fourth controller, and through carrying out full-redundancy design on electronic components in the wire-controlled steering system, the steering failure of the whole vehicle caused by single-point failure of the electronic components is effectively prevented, and the safe driving of the vehicle is ensured.
Further, the redundant mechanism steer-by-wire device further comprises a gateway 5, and the gateway 5 is in communication connection with the first controller 21, the second controller, the third controller 31 and the fourth controller respectively. The gateway 5 provides public communication, so that signals of the first controller 21, the second controller, the third controller and the fourth controller are communicated with each other, the road feel simulator 2 and the steering actuator 3 are ensured to be in signal connection, and the real steering condition can be simulated and reflected when the vehicle steers.
Further, the redundant mechanism steer-by-wire device further comprises a first igniter 4 and a second igniter which are redundant with each other, the first igniter 4 is respectively connected with the first controller 21 and the third controller 31, and the second igniter is respectively connected with the second controller and the fourth controller. Through setting up two way igniters and guaranteeing that even wherein go wrong all the way, another way still can normally be controlled, guarantees that way sense simulator 2 and steering actuator 3 can normally work to guarantee driving safety.
Furthermore, the redundant mechanism steer-by-wire device further comprises a first power supply 6 and a second power supply 7 which are redundant with each other, the first power supply 6 is electrically connected with the first controller 21 and the third controller 31 respectively, and the second power supply 7 is electrically connected with the third controller 31 and the fourth controller respectively. By arranging two power supplies, the redundant mechanism steer-by-wire device can work normally.
Further, the first sensor 23 is a torque angle sensor. The second sensor 33 is a rotation angle sensor and can acquire a rotation angle required by the steering process of the automobile and transmit the rotation angle to the third controller 31 and the fourth controller.
Example two
The embodiment provides a control method of a redundant mechanism steer-by-wire device, which comprises the following steps:
s1, the first controller 21 receives the torque and corner signals of the automobile steering collected by the first sensor 23, receives the speed signals forwarded by the gateway, receives the torque signals and corner signals output by the third driving motor (32) sent by the third controller, the second controller receives the torque and corner signals of the automobile steering collected by the first sensor 23, receives the speed signals forwarded by the gateway, and receives the torque signals and corner signals output by the fourth driving motor sent by the fourth controller;
s2, the third controller 31 receives the steering angle signal of the automobile steering collected by the second sensor 33 and receives the steering angle request signal sent by the first controller 21, and the fourth controller receives the steering angle signal of the automobile steering collected by the second sensor 33 and receives the steering angle request signal sent by the second controller;
s3, the first controller 21 calculates the steering reverse moment applied to the steering wheel 1 according to the torque and corner signal, the vehicle speed signal, the torque signal and the corner signal output by the third driving motor 32, and the second controller calculates the steering reverse moment applied to the steering wheel 1 according to the torque and corner signal, the torque signal and the corner signal output by the fourth driving motor;
s4, the first controller 21 and the second controller are mutually communicated and verified;
s5, the first controller 21 controls the first driving motor 22 according to the verification result, the second controller controls the second driving motor according to the verification result, and the synchronous output torque acts on the steering wheel 1;
s6, the third controller 31 calculates the steering assisting torque applied to the steering executing element according to the steering angle signal, the torque and steering angle signal and the steering angle request signal sent by the first controller, and the fourth controller calculates the steering assisting torque applied to the steering executing element according to the steering angle signal, the torque and steering angle signal and the steering angle request signal sent by the second controller;
s7, the third controller 31 and the fourth controller are in mutual communication verification;
and S8, the third controller 31 controls the third driving motor 32 according to the verification result, the fourth controller controls the fourth driving motor according to the verification result, and the synchronous output torque acts on the steering executing part.
Further, when the first controller 21 cannot receive the torque and rotation angle signal, the vehicle speed signal and the rotation angle signal, the first controller 21 and the second controller verify that the first driving motor 22 and the second driving motor work normally through mutual communication, and synchronous output torque acts on the steering wheel 1. And similarly, when the second controller cannot receive the torque and corner signal, the vehicle speed signal and the corner signal, the first driving motor 22 and the second driving motor are ensured to work normally through communication with the first controller 21.
Further, when the third controller 31 cannot receive the torque and rotation angle signals and the rotation angle request signal sent by the first controller, the third controller 31 and the fourth controller verify through mutual communication to realize normal operation of the third driving motor 32 and the fourth driving motor, and synchronous output torque acts on the steering executing member. And similarly, when the fourth controller cannot receive the torque and rotation angle signals and the rotation angle request signal sent by the second controller, the fourth controller communicates with the third controller 31 to ensure that the third driving motor 32 and the fourth driving motor work normally.
Further, when the first driving motor 22 fails to operate, the second controller can control the second driving motor to operate normally, and the output torque acts on the steering wheel 1.
And the third controller 31 and the fourth controller of the steering actuator 3 perform corner following control according to the corner signal sent out by the road feel simulator 2, and follow the target corner to realize steering control. The first controller 21 and the second controller of the road sense simulator 2 calculate the steering torque of the steering wheel 1 according to the vehicle speed signal forwarded by the gateway 5 and the torque signals output by the steering actuator 3, the third driving motor 32 and the fourth driving motor, simulate road sense excitation according to the corner signal of the steering actuator 3 and the torque signal output by the steering actuator 3, and output reverse torque through the motor of the road sense simulator 2 after the road sense and the steering hand force are superposed to simulate the steering hand force and hand feeling; when the external signal has single-point failure, the road sense simulator 2 and the steering actuator 3 can perform information interaction through respective internal private communication according to one signal, so that the two paths of signals can work normally. When the single point of the internal signal of the road sense simulator 2 or the steering actuator 3 fails, the other path can work normally, and the steering safety is ensured.
It should be understood that the above-described embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.
Claims (10)
1. A redundant mechanism steer-by-wire apparatus, comprising a steering wheel (1), further comprising:
a road feel simulator (2) comprising:
the two first driving motors (22) and the second driving motors which are redundant mutually are in transmission connection with the steering wheel (1);
the steering wheel control system comprises a first controller (21) and a second controller which are redundant and are in communication connection with each other, wherein the first controller (21) is electrically connected with a first driving motor (22), the second controller is electrically connected with a second driving motor, the first controller (21) can control the moment applied to the steering wheel (1) by the first driving motor (22), and the second controller can control the moment applied to the steering wheel (1) by the second driving motor;
the first sensor (23), the first sensor (23) is respectively connected with the first controller (21) and the second controller in a communication way, and the first sensor (23) can collect torque and rotation angle signals of the steering of the automobile;
a steering actuator (3) comprising:
a steering actuator connectable to a tire of an automobile;
the third driving motor (32) and the fourth driving motor which are redundant mutually are in transmission connection with the steering executing piece;
the three-dimensional steering control system comprises a third controller (31) and a fourth controller which are redundant and are in communication connection with each other, wherein the third controller (31) is electrically connected with a third driving motor (32), the fourth controller is electrically connected with a fourth driving motor, the third controller (31) can control a steering executing piece to realize steering by controlling the third driving motor (32), and the fourth controller can control the steering executing piece to realize steering by controlling the fourth driving motor;
the second sensor (33), the second sensor (33) is respectively connected with the third controller (31) and the fourth controller in a communication way, and the second sensor (33) can acquire a steering angle signal of the automobile;
the first controller (21) can be in communication connection with the third controller (31), and the second controller can be in communication connection with the fourth controller.
2. A redundant mechanism steer-by-wire apparatus according to claim 1, further comprising a gateway (5), wherein said gateway (5) is communicatively connected to said first controller (21), said second controller, said third controller (31) and said fourth controller, respectively.
3. A redundant mechanism steer-by-wire apparatus according to claim 1, further comprising a first igniter (4) and a second igniter which are redundant of each other, said first igniter (4) being connected to said first controller (21) and said third controller (31), respectively, and said second igniter being connected to said second controller and said fourth controller, respectively.
4. A redundant mechanism steer-by-wire apparatus according to claim 1, further comprising a first power source (6) and a second power source (7) that are redundant of each other, said first power source (6) being electrically connected to said first controller (21) and said third controller (31), respectively, and said second power source (7) being electrically connected to said third controller (31) and said fourth controller, respectively.
5. A redundant mechanism steer-by-wire apparatus according to claim 1, wherein said first sensor (23) is a torque angle sensor.
6. A redundant mechanism steer-by-wire apparatus according to claim 1, wherein said second sensor (33) is a rotation angle sensor.
7. A control method of a redundant mechanism steer-by-wire device is characterized by comprising the following steps:
s1, a first controller (21) receives a torque signal and a corner signal of automobile steering collected by a first sensor (23), receives a vehicle speed signal forwarded by a gateway (5), receives a torque signal and a corner signal output by a third driving motor (32) sent by a third controller, receives the torque signal and the corner signal of automobile steering collected by the first sensor (23), receives the vehicle speed signal forwarded by the gateway (5), and receives a torque signal and a corner signal output by a fourth driving motor sent by a fourth controller;
s2, the third controller (31) receives the steering angle signal of the automobile steering collected by the second sensor (33), receives the steering angle request signal sent by the first controller (21), and the fourth controller receives the steering angle signal of the automobile steering collected by the second sensor (33), and receives the steering angle request signal sent by the second controller;
s3, the first controller (21) calculates a steering reverse torque applied to the steering wheel (1) according to the torque and steering angle signal, the vehicle speed signal, the torque signal and the steering angle signal output by the third driving motor (32), and the second controller calculates a steering reverse torque applied to the steering wheel (1) according to the torque and steering angle signal, the vehicle speed signal, the torque signal and the steering angle signal output by the fourth driving motor;
s4, the first controller (21) and the second controller are in mutual communication verification;
s5, the first controller (21) controls the first driving motor (22) according to the verification result, the second controller controls the second driving motor according to the verification result, and synchronous output torque acts on the steering wheel (1);
s6, the third controller (31) calculates the steering power-assisted torque applied to the steering executing part according to the steering angle signal and the steering angle request signal sent by the first controller, and the fourth controller calculates the steering power-assisted torque applied to the steering executing part according to the steering angle signal and the steering angle request signal sent by the second controller;
s7, the third controller (31) and the fourth controller are in mutual communication verification;
and S8, the third controller (31) controls the third driving motor (32) according to the verification result, the fourth controller controls the fourth driving motor according to the verification result, and the synchronous output torque acts on the steering executing piece.
8. The control method of a redundant mechanism steer-by-wire apparatus according to claim 7, wherein when said first controller (21) or said second controller fails to receive said torque and rotation angle signals and said rotation angle signals, said first controller (21) and said second controller verify that said first drive motor (22) and said second drive motor are operating normally through mutual communication, and a synchronous output torque acts on said steering wheel (1).
9. The control method of a redundant mechanism steer-by-wire apparatus according to claim 7, wherein when said third controller (31) or said fourth controller fails to receive said torque and rotation angle signals and said rotation angle request signal from said first controller, said third controller (31) and said fourth controller verify that said third drive motor (32) and said fourth drive motor are operating normally through mutual communication, and a synchronous output torque is applied to said steering actuator.
10. The control method of a redundant mechanism steer-by-wire apparatus according to claim 7, wherein when the first controller (21) or the first drive motor (22) is disabled, the second controller can control the second drive motor to operate normally, and output torque acts on the steering wheel (1).
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
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| CN202010531755.XA CN111674458A (en) | 2020-06-11 | 2020-06-11 | Redundant mechanism steer-by-wire device and control method |
| PCT/CN2021/097196 WO2021249223A1 (en) | 2020-06-11 | 2021-05-31 | Redundant mechanism steer-by-wire device and control method |
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| CN202010531755.XA CN111674458A (en) | 2020-06-11 | 2020-06-11 | Redundant mechanism steer-by-wire device and control method |
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| CN113044107A (en) * | 2021-03-15 | 2021-06-29 | 中国第一汽车股份有限公司 | Redundant steer-by-wire executor architecture |
| CN113247088A (en) * | 2021-06-30 | 2021-08-13 | 中国第一汽车股份有限公司 | Wire-controlled steering device with redundancy function and control method |
| WO2021249223A1 (en) * | 2020-06-11 | 2021-12-16 | 中国第一汽车股份有限公司 | Redundant mechanism steer-by-wire device and control method |
| CN113911203A (en) * | 2021-11-22 | 2022-01-11 | 中国第一汽车股份有限公司 | Vehicle and steer-by-wire variable transmission ratio control method and device thereof |
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| CN114834409A (en) * | 2022-04-15 | 2022-08-02 | 湘潭大学 | Braking device based on displacement detection and control method |
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2020
- 2020-06-11 CN CN202010531755.XA patent/CN111674458A/en active Pending
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2021
- 2021-05-31 WO PCT/CN2021/097196 patent/WO2021249223A1/en active Application Filing
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2021249223A1 (en) * | 2020-06-11 | 2021-12-16 | 中国第一汽车股份有限公司 | Redundant mechanism steer-by-wire device and control method |
| CN113044107A (en) * | 2021-03-15 | 2021-06-29 | 中国第一汽车股份有限公司 | Redundant steer-by-wire executor architecture |
| CN113247088A (en) * | 2021-06-30 | 2021-08-13 | 中国第一汽车股份有限公司 | Wire-controlled steering device with redundancy function and control method |
| CN113247088B (en) * | 2021-06-30 | 2023-02-24 | 中国第一汽车股份有限公司 | Wire-controlled steering device with redundancy function and control method |
| CN113911203A (en) * | 2021-11-22 | 2022-01-11 | 中国第一汽车股份有限公司 | Vehicle and steer-by-wire variable transmission ratio control method and device thereof |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2021249223A1 (en) | 2021-12-16 |
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Application publication date: 20200918 |